Finite-time Consensus Control of Nonlinear Mechanical Systems with Input Saturation

被引：0
|
作者：
Zhou, Yong [1 ]
Huang, Jiangshuai [2 ]
Gao, Tingting [3 ]
机构：
[1] Wild SC Intelligent Technol Co Ltd, Ningbo 315500, Zhejiang, Peoples R China
[2] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 119077, Singapore
[3] Zhejiang Text & Fash Coll, Sch Mech & Elect Engn, Ningbo 315211, Zhejiang, Peoples R China
来源：
2015 34TH CHINESE CONTROL CONFERENCE (CCC) | 2015年
关键词：
Finite-time consensus; Leader-following; Input Saturation; DOUBLE-INTEGRATOR DYNAMICS; MULTIAGENT SYSTEMS; MOBILE ROBOTS; ALGORITHMS; TRACKING;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we consider finite-time consensus control for a group of second-order nonlinear mechanical systems. Distributed controllers are designed such that consensus is reached while all the agents in the multi-agent system are suffered from input saturation. We assume that the velocities of the agents are not measurable, thus an observer is designed for each of the agents. It is shown that the states of the mechanical systems can reach a consensus within finite time under input saturation. Finally simulation results illustrate and verify the effectiveness of the proposed schemes.
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页码：1240 / 1245
页数：6
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